- Quadcopter Matlab
- Quadrotor Simulink Model
- Simulink Model Library
- Simulink Model Example
- Dfig Simulink Model Download
- Quadcopter Simulink Model Download
Quadcopter Project
This example shows how to use Simulink® to model a quadcopter, based on the PARROT® series of mini-drones.
Free file download >> Quadcopter simulation developed using #MATLAB and #Simulink.
- A package of documentation and software supporting MATLAB/Simulink based dynamic modeling and simulation of quadcopter vehicles for control system design.
- See what's new in the latest release of MATLAB and Simulink: Download. Quadcopter Simulation and Control Made. Simulink Model.
- Quadcopter dynamic modeling and simulation using matlab and simulink, quadcopter dynamic model, quadcopter simulink model download, quadcopter simulation.
- To manage the model and source files, it uses Simulink® Projects.
- To show the quadcopter in a three-dimensional environment, it uses Simulink® 3D Animation.
- For the collaborative development of a flight simulation application, it provides an implementation of the Flight Simulation application template.
This example works with the Simulink Support Package for PARROT Minidrones.
Note: To successfully run this example you must have a C/C++ compiler installed.
Open the Quadcopter Project
Run the following command to create and open a working copy of the project files for this example:
Quadcopter Physical Characteristics
The following schematic shows the quadcopter physical characteristics:
Axis
The quadcopter body axis is centered in the center of gravity.
- The x-axis starts at the center of gravity and points in the direction along the nose of the quadcopter.
- The y-axis starts at the center of gravity and points to the right of the quadcopter.
- The z-axis starts at the center of gravity and points downward from the quadcopter, following the right-hand rule.
Mass and Inertia
We assume that the whole body works as a particle. The file
vehicleVars
contains the values for the inertia and mass.Rotors
- Rotor #1 rotates positively with respect to the z-axis. It is located parallel to the xy-plane, -45 degrees from the x-axis.
- Rotor #2 rotates negatively with respect to the body's z-axis. It is located parallel to the xy-plane, -135 degrees from the x-axis.
- Rotor #3 has the same rotation direction as rotor #1. It is located parallel to the xy-plane, 135 degrees from the x-axis.
- Rotor #4 has the same rotation direction as rotor #2. It is located parallel to the xy-plane, 45 degrees from the x-axis.
This example uses the approach defined by Prouty[1] and adapted to a heavy-lift quadcopter by Ponds et al[2].
Control
For control, the quadcopter uses a complementary filter to estimate attitude, and Kalman filters to estimate position and velocity. The example implements:
- A PID controller for pitch/roll control
- A PD controller for yaw
- A PD controller for position control in North-East-Down coordinates
The
controllerVars
file contains variables pertinent to the controller. The estimatorVars
file contains variables pertinent to the estimator.The example implements the controller and estimators as model subsystems, enabling several combinations of estimators and controllers to be evaluated for design.
To provide inputs to the quadcopter (in pitch, roll, yaw, North (X), East (Y), Down (Z) coordinates ), use one of the following and change the
VSS_COMMAND
variable in the workspace:- A Signal Editor block
- A joystick
- Previously saved data
- Spreadsheet data
Sensors
The example uses a set of sensors to determine its states:
- An Inertial Measurement Unit (IMU) to measure the angular rates and translational accelerations.
- A camera for optical flow estimation.
- A sonar for altitude measurement.
The example stores the characteristics for the sensors in the file
sensorVars
. To include sensor dynamics with these measurements, you can change the VSS_SENSORS
variable in the workspace.Environment
The models implement several Aerospace Blockset™ environment blocks, including those for atmosphere and gravity models. To include these models, you can change the
VSS_ENVIRONMENT
variable in the workspace to toggle between variable and fixed environment models.Quadcopter Matlab
Linearization
The model uses the
trimLinearizeOpPoint
to linearize the nonlinear model of the quadcopter using Simulink Control Design (R).![Quadcopter Simulink Model Download Quadcopter Simulink Model Download](https://www.mathworks.com/cmsimages/101398_wl_block-diagram-simulink.png)
Quadrotor Simulink Model
Testing
To make sure that the trajectory generation tool works properly, the example implements a test in the
trajectoryTest
file. For more information on how to do this, see the Simulink Control Design documentation).Visualization
You can visualize the variables for the quadcopter in one of the following ways:
- Using Simulation Data Inspector.
- Using the flight instrument blocks.
- Toggling between the different visualization variant subsystems. You can toggle between the different variant subsystems by changing the
VSS_VISUALIZATION
variable. Note that one of these variants is a FlightGear animation. To use this animation, you must add a FlightGear compatible model of the quadcopter to the project. The software does not include this model.
Trajectory Generation
A trajectory generation tool, using the Dubin method, creates a set of navigational waypoints. To create a trajectory with a set of waypoints this method uses a set of poses defined by position, heading, turn curvature, and turn direction.
To start the tool, open the project and run:
The following interface displays:
The interface has several panels:
Waypoints
This panel describes the poses the trajectory tool requires. To define these poses, the panel uses text boxes:
- North and East (position in meters)
- Heading (degrees from North)
- Curvature (turning curvature in meters^-1)
- Turn (direction clockwise or counter-clockwise)
A list of poses appears in the waypoint list to the right of the text boxes.
To add a waypoint, enter pose values in the edit boxes and click Add. The new waypoint appears in the waypoint list in the same panel.
To edit the characteristics of a waypoint, select the waypoint in the list and click Edit. The characteristics of the waypoints display in the edit boxes. Edit the characteristics as desired, then click OK. To cancel the changes click Cancel.
To delete a waypoint, in the waypoint list, select the waypoint and click Delete.
No-Fly Zone
The panel defines the location and characteristics of the no-fly zones. To define the no-fly zone, the panel uses text boxes:
- North and East (position in meters)
- Radius (distance in meters)
- Margin (safety margin in meters)
Use the Add, Delete, Edit, OK, and Cancel buttons in the same way as for the Waypoints panel.
Mapped Trajectory
This panel plots the trajectory over the Apple Hill campus aerial schematic based on the waypoints and no-fly zone characteristics.
To generate the trajectory, add the waypoint and no-fly zone characteristics to the respective panels, then click Generate Trajectory.
To save the trajectory that is currently in your panel, click the Save button. This button only saves your last trajectory.
To load the last saved trajectory, click Load.
Simulink Model Library
To load the default trajectory, press the Load Default button.
To clear the values in the waypoint and no-fly zone panel, click Clear.
The default data contains poses for specific locations at which the toy quadcopter uses its cameras so the pilot on the ground can estimate the height of the snow on the roof. Three no-fly zones were defined for each of the auxiliary power generators, so in case there is a failure in the quadcopter, it does not cause any damage to the campus infrastructure.
When the example generates the trajectory for the default data, the plot should appear as follows:
The red line represents the trajectory, black x markers determine either a change in the trajectory or a specific pose. Blue lines that represent the heading for that specific waypoint accompany specific poses. No-fly zones are represented as green circles.
If you have a Simulink 3D Animation license, you can also view the trajectory in a 3-D representation of the Apple Hill campus:
Note: For visualization reasons the 3D representation of the quadcopter is not at the same scale as the environment.
References
[1] Prouty, R. Helicopter Performance, Stability, and Control. PWS Publishers, 2005.
[2] Ponds, P., Mahony, R., Corke, P. Modelling and control of a large quadrotor robot. Control Engineering Practice. 2010.
TO DOWNLOAD: Click 'Download ZIP' on the right to download all of our materials as a single file.
A YouTube video providing a brief overview of our project was created for the 2014 MATLAB and Simulink Student design challenge. This video can be viewed at:
Copyright (C) 2014 D. Hartman, K. Landis, M. Mehrer, S. Moreno, J. Kim
Please email reasonable questions, suggestions, and complaints to:
Provided here is an assortment of materials designed to assist users in modeling and simulation of a quadcopter.Specifically:
•Test rig designs for component performance measurement
•Several MATLAB data analysis tools and GUIs (R2013a Tested)
![Quadcopter Simulink Model Download Quadcopter Simulink Model Download](/uploads/1/2/6/4/126424183/628655879.jpg)
•A configurable Simulink quadcopter simulation
•And a bit more stuff…
The full package should be available for download at:
These materials are partially the result of a Senior Design project at Drexel University. The team consisted of:D. Hartman, K. Landis, M. Mehrer, S. Moreno, and J. Kim.Our faculty advisor was Dr. B. C. Chang
As this is our first attempt at a public release of our materials, there are undoubtedly errors, omissions,and downright lies contained herein. Expect frequent updates as we find and correct issues.
We do not claim to be experts. All of our materials are provided simply as a service to themulti-rotor community in sincere hope that it will prove useful as a basis for further inquiry. Users areexpected to reference our materials against more reliable sources, and use their best judgment orconsult professional advice where appropriate, particularly where safety may be a concern.
Simulink Model Example
Quadcopters and RC vehicles are dangerous and are not toys.Use caution and follow all manufacturer safety instructions.
That said, we hope you find these materials helpful. Good luck!
We provide documentation and instructions related to quadcopter dynamic modeing and simulation for control design.A good starting point is to take a close look at what materials are provided within these documents, and see how it fits into your project needs.In general, it would be advisable to add all of the MATLAB and Simulink related foldersto the MATLAB path so that they can be easily accessed within the MATLAB environment.Once you understand what we provide, you can tackle the materials in any order, or split up tasks among a team. Generally speaking, the order of tasks should be fairly self evident, and to some degree flexible depending on the needs of your project and your available resources.
This file is part of a Quadcopter Dynamic Modeling and Simulation package (Quad-Sim).
Dfig Simulink Model Download
Quad-Sim is free: you can redistribute it and/or modifyit under the terms of the GNU Lesser General Public License as published bythe Free Software Foundation, either version 3 of the License, or(at your option) any later version.
Quadcopter Simulink Model Download
Quad-Sim is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without even the implied warranty ofMERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See theGNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public Licensealong with Quad-Sim. If not, see http://www.gnu.org/licenses/.